System and method for controlling dollies

ABSTRACT

According to at least one exemplary embodiment, a system and method for synchronizing and controlling at least one dolly may be provided. The system may include at least one dolly, a power unit, and a control device, all communicatively coupled via at least one network. Dolly coordinates and steer points for a load may be recorded. Adjustments to the dolly may be made based on desired changes to the orientation of the steer points.

RELATED APPLICATIONS

This application is a continuation of pending U.S. patent applicationSer. No. 15/884,633 for a System and Method for Controlling Dollies,filed Jan. 31, 2018, which is a continuation of U.S. patent applicationSer. No. 14/595,597 for a System and Method for Controlling Dollies,filed Jan. 13, 2015, now U.S. Pat. No. 9,919,640, the disclosures ofwhich are herein incorporated by reference in their entireties.

BACKGROUND

Dollies come in a variety of configurations and are generally used tolift and transport heavy objects. Some heavy duty dollies are used totransport extremely large loads, including buildings and other largestructures. These heavy duty dollies may be self-propelled or coasterdollies. These dollies may further be capable of steering, braking, andalso lifting. When moving extreme loads, such as buildings and largestructures, multiple dollies may be used in combination. Traditionally,these dollies have required individual attention and manipulation tosafely steer a load. The use of come-alongs and various other mechanicalsteering aids have been employed in an attempt to synchronize themovement of multiple dollies. For example, two dollies in parallel mayhave their steering set in unison by connecting tongues of the dollieswith a solid bar. This may cause the tongues and consequently thesteering axles of the dollies to move as one. Come-alongs may secure thetongue of a dolly to the frame of a load, causing the dolly to followthe load. However, when using a plurality of dollies, there is aconstant need for individual attention and correction. This requires anincreased amount of man power and ultimately limits the size of a loadthat can be hauled.

SUMMARY

According to at least one exemplary embodiment, a load transport systembe provided. The system may include at least one dolly. The dolly mayhave a top cap encoder and front axle encoder. The encoders maycommunicate data to a dolly control unit. The system may also include atleast one power unit, which may have a power unit computer. The dollycontrol unit may communicate the encoder data to the power unit computerover a network. The system may further include a control device that isconfigured to communicate over a network with the power unit computerand which may allow a user to view and manipulate system data,instructing the power unit computer. The power unit computer may makecalculations based on the data to determine necessary adjustments to theat least one dolly. The power unit computer may then cause the powerunit to actuate components of the dolly to attain the calculatedadjustments.

According to another exemplary embodiment, a method for transporting aload may be provided. The method may include providing at least onedolly, at least one power unit, and a control device. The at least onedolly may include a top cap encoder and front axle encodercommunicatively coupled to a dolly control unit. The top cap encoder andfront axle encoder may communicate measured data to the dolly controlunit. The power unit may include a power unit computer communicativelycoupled with the at least one dolly control unit via a network. The atleast one dolly control unit may communicate the measured data to thepower unit computer. The control device may be configured to communicatewith the power unit computer via a network and it may allow a user toview and manipulate system data, and provide instructions to the powerunit computer. The method may further include entering baseline datacomprising dolly coordinates and steer point coordinates. A desiredsteer point orientation may then be entered. Next, the method mayinclude allowing the power unit computer to calculate necessaryadjustments to the at least one dolly based on the dolly control unitdata and user input data. The power unit computer may be allowed toinstruct the power unit to actuate the at least one dolly to achieve theadjustments. The method may also include instructing the at least onedolly to drive as desired through one of the control device or aseparate drive control device. Lastly, the method may include adjustingthe desired steer point orientation and drive instructions as desired.

According to yet another exemplary embodiment, a computer programproduct may be provided. The computer program product may be implementedon a processor and may include code for causing the components of a loadtransport system to execute a series of steps. Steps may includereceiving top cap encoder data from at least one dolly, receiving frontaxle encoder data from at least one dolly, receiving baseline coordinatedata for at least one dolly and a front and rear steer point, from auser, and receiving a desired front and rear steer point orientation.The computer program product may further cause the system to calculatedolly adjustments based on the received data and desired inputs. It maythen instruct a power unit to actuate the adjustments.

According to a further exemplary embodiment, an apparatus fortransporting a load may be provided. The apparatus may include a dollyhaving an adjustable front axle and an adjustable top cap for supportinga load. It may further include a power unit configured to actuate thecomponents of the dolly. The power unit may have a power unit computerfor processing data and instructing the power unit to actuate dollycomponents. There may also be a control device in communication with thepower unit for entering and manipulating data to instruct the actuationof the dolly.

According to yet another exemplary embodiment, a load transport systembe provided. The system may include at least one dolly. The dolly mayhave at least one encoder. The at least one encoder may communicate datato a dolly control unit. The system may also include at least one powerunit, which may have a power unit computer. The dolly control unit maycommunicate the encoder data to the power unit computer over a network.The system may further include a control device that is configured tocommunicate over a network with the power unit computer and which mayallow a user to view and manipulate system data, instructing the powerunit computer. The power unit computer may make calculations based onthe data to determine necessary adjustments to the at least one dolly.The power unit computer may then cause the power unit to actuatecomponents of the dolly to attain the calculated adjustments.

BRIEF DESCRIPTION OF THE FIGURES

Advantages of embodiments of the present invention will be apparent fromthe following detailed description of the exemplary embodiments thereof,which description should be considered in conjunction with theaccompanying drawings in which like numerals indicate like elements, inwhich:

Exemplary FIG. 1 shows a diagram of a dolly transport system.

Exemplary FIG. 2 shows a graphical user interface of a control device.

Exemplary FIG. 3 shows a graphical user interface of a control device.

Exemplary FIG. 4 shows a graphical user interface of a control device.

Exemplary FIG. 5 shows a flow chart for operating a dolly transportsystem.

Exemplary FIG. 6 shows a steer point diagram.

Exemplary FIG. 7 shows a steer point diagram.

Exemplary FIG. 8 shows a steer point diagram.

Exemplary FIG. 9 shows a steer point diagram.

Exemplary FIG. 10 shows a steer point diagram.

Exemplary FIG. 11 shows a steer point diagram.

Exemplary FIG. 12 shows a diagram of a dolly transport system.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Aspects of the invention are disclosed in the following description andrelated drawings directed to specific embodiments of the invention.Alternate embodiments may be devised without departing from the spiritor the scope of the invention. Additionally, well-known elements ofexemplary embodiments of the invention will not be described in detailor will be omitted so as not to obscure the relevant details of theinvention. Further, to facilitate an understanding of the descriptiondiscussion of several terms used herein follows.

The word “exemplary” is used herein to mean “serving as an example,instance, or illustration.” Any embodiment described herein as“exemplary” is not necessarily to be construed as preferred oradvantageous over other embodiments. Likewise, the term “embodiments ofthe invention” does not require that all embodiments of the inventioninclude the discussed feature, advantage or mode of operation.

Further, many of the embodiments described herein are described in termsof sequences of actions to be performed by, for example, elements of acomputing device. It should be recognized by those skilled in the artthat the various sequences of actions described herein can be performedby specific circuits (e.g. application specific integrated circuits(ASICs)) and/or by program instructions executed by at least oneprocessor. Additionally, the sequence of actions described herein can beembodied entirely within any form of computer-readable storage mediumsuch that execution of the sequence of actions enables the at least oneprocessor to perform the functionality described herein. Furthermore,the sequence of actions described herein can be embodied in acombination of hardware and software. Thus, the various aspects of thepresent invention may be embodied in a number of different forms, all ofwhich have been contemplated to be within the scope of the claimedsubject matter. In addition, for each of the embodiments describedherein, the corresponding form of any such embodiment may be describedherein as, for example, “a computer configured to” perform the describedaction.

According to some exemplary embodiments, and generally referring toFIGS. 1-11, a dolly transport system 100 may be provided. Transportsystem 100 may include at least one dolly used to support and transportheavy loads. In an exemplary embodiment, the system may incorporate aplurality of individual dollies to transport a single load. Individualdollies may include a frame and at least one axle. In an exemplaryembodiment, a dolly may have two axles. In some embodiments, one axlemay be a steering axle, which may be configured to turn in relation tothe frame. In other embodiments, both axles may be steering axles, whichmay be configured to turn in relation to the frame. In yet otherembodiments, all axles may have a fixed orientation. Alternatively, theframe may be configured to pivot, causing the axle orientation to turn.Dollies may further include wheels, some or all of which may optionallyhave a fixed orientation in relation to the at least one axle.Alternatively, some or all of the wheels may turn independently of theat least one axle. Additionally, each wheel may optionally rotate inunison with an axle or independently. It may be understood by a personhaving ordinary skill in the art, that these and various other dollyembodiments may be used substantially as described herein.

Exemplary dollies may be power dollies, coaster dollies, or acombination thereof. A power dolly may be able to initiate movement of aload, while a coaster dolly may require another source to initiatemovement of a load, such as a power dolly used in combination with thecoaster dolly. Some coaster and power dollies may provide powersteering, braking, and load height adjustment capabilities. In anexemplary embodiment, the dollies may be hydraulically powered and maybe coupled to a hydraulic power unit. The braking system may be an airbrake system and the air system may further be incorporated in the powerunit. In some alternative exemplary embodiments, the dollies may beelectric powered. The components of the system, including the dolliesand power units may function substantially the same in an electricpowered embodiment. In further alternative embodiments, the dollies maybe powered by internal combustion, steam, hybrid, or other combinationsor forms of power, as would be understood by a person having ordinaryskill in the art.

Now referring to exemplary FIG. 1, a transport system 100 may include atleast one dolly 108, at least one power unit 120, a control device 130,and at least one network 140. A dolly 108 may include a dolly controlunit 110 and at least one encoder. In an exemplary embodiment, a dolly108 may have at least one encoder configured to monitor eachindependently adjustable component, including a top cap, axles, wheels,or a pivoting frame. In at least one exemplary embodiment having a dolly108 with a steering front axle and a top cap, dolly 108 may include atop cap encoder 112, and a front axle encoder 114. Other embodimentshaving corresponding components used in accordance with the aboveexample may be understood by a person having ordinary skill in the art.For example, a dolly having a top cap and front and rear steering axles,the dolly 108 may include a top cap encoder 112, a front axle encoder114, and a rear axle encoder.

While other embodiments may be configured and operate in accordance withthe present description, an exemplary embodiment having a top cap andfront steering axle may be used for explanatory purposes. The dollycontrol unit 110 may be communicatively coupled to the top cap encoder112 and front axle encoder 114. In an exemplary embodiment, the top capencoder 112 and front axle encoder 114 may be communicatively coupled toa dolly control unit 110. In some exemplary embodiments, the top capencoder 112 and front axle encoder 114 may be hard wired to a dollycontrol unit. The use of such internal encoders may allow the system tooperate in a variety of conditions without interference. The top capencoder 112 may monitor the orientation of a dolly top cap. In anexemplary embodiment, a top cap encoder 112 may monitor a dolly top capthrough a series of cables, pulleys, springs and shafts, which may beconnected to the top cap and may operate the encoder in correlation tochanges in the top cap orientation. The top cap encoder 112 may reportthe rotation of the dolly at all times. A dolly top cap may be thesupport surface for a load being transported. The top cap may be securedto the load by clamps, bolts, and other fasteners as understood by aperson having ordinary skill in the art. In an exemplary embodiment, thetop cap may be configured to rotate in relation to the dolly frame andadjust in height. The adjustable orientation of the top cap, includingrotation and height, may optionally facilitate oscillation of thedollies under a load as they traverse changing terrain.

The front axle encoder 114 may similarly monitor the position andorientation of the front axle and may communicate data to the dollycontrol unit 110. The front axle may be a straight axle, such that thewheels turn as one. In some alternative exemplary embodiments, the axlemay be a split axle. In some further embodiments, each wheel of a dollymay turn independently. An individual encoder may be utilized to monitorand report data for each wheel in embodiments having independentlyturning wheels. A dolly having independently turning wheels may functionsubstantially as described herein through the use of individual encodersfor each independently turning wheel. The dolly control unit 110 mayinclude a computer configured to process and communicate data from thetop cap encoder 112 and front axle encoder 114. In some exemplaryembodiments, the computer may be a microcontroller. Software embedded inthe dolly control unit 110 may convert the data to a desired code forcommunication to a power unit 120. In some alternative embodiments,laser systems or GPS may be used to measure system data such as dollylocation and orientation.

Each dolly control unit 110 may be communicatively coupled to a powerunit 120 via a network 140. In an exemplary embodiment, this network maybe a CAN network, such as a J1939 CAN network. Other protocols or typesof networks may be used in alternative embodiments, as would beunderstood by a person having ordinary skill in the art. In an exemplaryembodiment, the network communications may be wired. This may allow thesystem 100 to be without interruptions in communication which may becaused by the nature of the load or the environment. However, in somealternative embodiments, the communications may be wireless through theuse of a wireless transceiver, such as a Bluetooth, Wi-Fi, infrared, RFor microwave transceiver. A power unit 120 may be incorporated in anindividual dolly 108, affixed to a dolly 108, or remotely coupled to adolly 108. In an exemplary embodiment, each dolly 108 may be controlledby its own power unit 120. Alternatively, in some embodiments, a singlepower unit 120 may control a plurality of dollies 108. The power unit120 may further be communicatively coupled to a control device 130. Thecontrol device 130 may allow a user to oversee and instruct the system100. In an exemplary embodiment, the power unit 120 and control device130 may also communicate via a network 140.

Software may be implemented in the power unit 120, the dolly controlunit 110, and the control device 130. As described above, the dollycontrol unit 110 may receive data from the top cap encoder 112 and frontaxle encoder 114. In some exemplary embodiments, data from the encodersmay be in the form of a pulse count. Software in the dolly control unit110 may convert the data as desired for transmission. The data may thenbe communicated to the power unit 120. The power unit 120 may include apower unit computer 122 configured to process the data. In embodimentsutilizing multiple power units, the individual power units 120 may becommunicatively coupled so as to separately, but synchronously controlthe dollies. In some alternative embodiments, individual power units 120may be linked to a master power unit, which may be used to control theentire system. Calculations based on the data may subsequently be madeby software embedded in a power unit computer 122. The power unitcomputer 122 may be a microcontroller, standard processor, laptop, or asmart device. In some further exemplary embodiments, the power unitcomputer 122 may control the power unit 120 remotely. The calculationsmay utilize data input by a user through the control device 130 and datacommunicated from the dolly control unit 110. The power unit computer122 may subsequently instruct the power unit to initiate adjustments tothe dolly, such as causing the dolly's front axle to turn. In anexemplary embodiment, adjustments may be accomplished through thetransfer or pressurization of hydraulic fluid. In an exemplaryembodiment, hydraulic lines may run between a power unit 120 and a dolly108. The hydraulic lines may allow hydraulic communication between thepower unit 120 and the components of a dolly 108, such as a hydraulicpower steering system, a hydraulic drive system, and a hydraulic systemfor lifting or rotation a top cap of the dolly 108. The power unitcomputer 122 may actuate valves for a particular dolly or component tosteer and correct dolly orientation to meet desired orientation datainput through the control device 130. The power unit computer 120 mayfurther be configured to initiate a dolly's drive capability and adjustthe dolly's speed. The drive capability may be controlled through thecontrol device 130 or a separate drive control device.

A system control device 130 may be communicatively coupled to the powerunit computer 122 via a network 140. Data from the power unit computer122 may be displayed through the control device 130. A user maysubsequently manipulate the data or provide instructions to the powerunit computer 122 through the control device 130. In an exemplaryembodiment, calculations for adjustments may be implemented throughsoftware embedded in the power unit 120. In some alternativeembodiments, the calculations may be made in the dolly control unit 110or on the control device 130.

Now referring to exemplary FIGS. 2-4, a graphical user interfacepresented through the control device 130 may be provided. One exemplarypage, as shown in FIG. 2, may be a setup page 200. The setup page 200may show baseline data 202 for the at least one dolly used in the systemand allow a user to edit the data. The data may include dolly dimensionsand location data. The page 200 may further allow a user to zero thebaseline data for individual dollies through individual zero buttons 206or zero the baseline data for all dollies through a master zero button208. Still further, it may allow a user to set limitations on time delayand steering degree through limit control buttons 210. The page may alsoinclude buttons 204 to access other pages presented through the controldevice 130, such as a diagram page 300 and an operation page 400.

As shown in exemplary FIG. 3, a diagram page 300 may show the componentsof the transport system 100, including a diagram 302 of the location ofthe dollies in use. A user may enter X and Y coordinates for each dolly108 being used through input fields 306. The user may further enter an Xand Y coordinate for a front and a rear steer point for the load throughinput fields 308. In an exemplary embodiment, the steer points may bealong a centerline at the front and rear of the load. However, the steerpoints are not limited to a specific location for the system to make thenecessary calculations. Page 300 may further include buttons 304 foraccessing other pages.

As shown in exemplary FIG. 4, an operation page 400 may be used to steerthe load. An exemplary operation page 400 may include a diagram of thesystem showing the individual dollies, a front steer point, and a rearsteer point. The user may further select a steering method throughbuttons 404 on operation page 400. The steering methods may includestandard steering, articulated steering, and crab steering, as discussedfurther below. The user may access other pages, such as the setup page200, through buttons 404. A user may zero the steer point controls foreach steer point with zero buttons 410. Once the necessary data has beeninput in the system, a user may enter a desired adjustment to the frontand rear steer points of the load through front steer point control 406and rear steer point control 408. The controls may allow a user toincrementally adjust the angle of each steer point. In an exemplaryembodiment, the user may determine a desired angle through visualobservation. The user may maintain a desired adjustment or may increaseor decrease the adjustment while the load is in motion. A user maytherefore actively steer the load by adjusting the desired front andrear steer point orientations. The adjusted input may be in degrees.Basing the calculations on the steer points and angles of the dollyframes in relation to the load allows for adjustments to the loadorientation on the fly.

Referring now to exemplary FIG. 5, transporting a load may operate asfollows. A system, as substantially described above, may be assembled500. A user may input all of the necessary baseline data, including thedolly dimensions and initial dolly location coordinates 502. The usermay then enter location coordinates for a front and rear steer point ofthe load 504. Once the steer points have been entered, a user may entera desired steering method 506. Steering methods may include standard,articulated, and crab steer. Standard steering may turn a front or rearsteer point and the load may follow. Articulated steering may turn afront steer point and rear steer point such that they are oriented atangles in opposite directions. This may result in a tighter turningradius. Crab steer may allow all steer points to move in the samedirection, allowing the load to move sideways or at a desired angle. Theturning of steer points may be set as a desired turn angle 508.Individual dollies may turn at varying angles to achieve the desiredsteer point angle. The system may further operate in forward or reverse,utilizing the same steering controls and calculations. In still furtherembodiments, the system may be tied to other systems in order to work inconjunction. For example, the system may tie into a hydraulic platformtrailer system, allowing the dollies to synchronize with the wheelsystem of the hydraulic platform trailer.

Based on a desired orientation of the front and rear steer points of theload, a calculated steer point may be determined. The calculated steerpoint may then be used to determine the desired orientation for eachindividual dolly frame and front axle to achieve the desired front andrear steer point orientations for the load 510. For example, if a userenters a front steer point angle of +15° and a rear steer point angle of−15°, then a calculated steer point may be determined at theintersection of lines running from the front and rear steer points,perpendicular to the angles of the front and rear steer points. Once thecalculations have been made, the power unit may be instructed to actuatethe dolly components to achieve the adjustments 512. The at least onedolly may also be instructed to move forward or backward or brake. Thedesired steer point orientation and drive instructions may be adjustedas desired during operation 514.

Angles of the individual dollies necessary to achieve the desired frontand rear steer point orientation may be determined from the calculatedsteer point. In addition to turning the front axle to achieve thedesired angle, the orientation of the top cap of a dolly may beadjusted. This may allow a dolly to rotate under a load withoutrequiring the load to match the rotation. From the calculated steerpoint, the orientation of the dolly frames and front axles necessary tocomplete a desired maneuver may be determined.

As shown in exemplary FIG. 6, a calculated steer point may be theintersection of a line travelling from the front steer point and a linetravelling from the rear steer point, each line being perpendicular tothe desired angles of the front and rear steer points. As shown inexemplary FIGS. 7 and 8, the necessary angles of orientation for a dollymay then be calculated from the calculated steer point. The system mayknow the location of an individual dolly in relation to the front andrear steer points from the baseline entries inputted by the user. Here,dolly #1 may be ten feet to the left of the front steer point. Also, thespecific angles of the dolly frame and the dolly front axle required toachieve the necessary dolly orientation may be determined. The dollyorientation for a dolly #2, to the right of the steer point, may bedifferent from that of dolly #1. In an exemplary embodiment, a dollycloser to the calculated steer point may have a sharper angle oforientation.

In an exemplary embodiment, and referring generally to FIG. 6, thefollowing algorithms may be used to determine X and Y coordinates for acalculated steer point (CSP), using a front steer point (FSP) and rearsteer point (RSP).

X _(csp) =X _(FSP)+(g/sin(A−D)*sin(90+D)*sin(90−A))

Y _(CSP) =Y _(FSP)+(g/sin(A−D)*sin(90+D)*sin(A))

Once the calculated steer point has been determined, the proper steerangles for the axle and frame of each dolly can be determined. Thedistances among the dollies and the steer points may be known throughthe user entries. Similarly, the desired angles of orientation for thesteer points may be known through user entry. The known data may allowthe system to calculate the necessary dolly orientations to achieve thedesired steer point orientations.

Exemplary FIGS. 9 and 11 may show the dimensions used in the belowalgorithms to calculate desired dolly frame and axle angles. ExemplaryFIG. 10 may show a diagram depicting the relationship of a plurality ofdollies to the steer points, such that angles for each dolly may becalculated similarly. Dolly #1 may be used as an example in the presentcalculations and depictions. The following algorithm may be used todetermine a desired dolly frame angle, J:J=tan⁻¹(k/j)−sin⁻¹(s/√((−k)²+(−j)²).

As shown in exemplary FIG. 11, s may equal the dimension from a dollyrear axle to a dolly cap and n may equal the dimension from a dollyfront axle to a dolly cap. The system may continuously make calculationsas the dolly moves, so as to adjust the steer angle of the front axle tomaintain a desired orientation to the steer point throughout a turn. Thedata used for the continuous calculations and adjustments, orfine-tuning, of the steer angles may be shown in FIG. 11. In anexemplary embodiment, the following algorithm may be used to determine adesired front axle angle, P: P=tan⁻¹((s+n)/√((k²+j²)−s²)).

Once target steer angles have been calculated, the system may use datameasured by the encoders to determine actual steer angles. The systemmay correct any differences between the target steer angles and actualsteer angles. An exemplary dolly transport system may further have anautomatic shut off and alert in the event of certain malfunctions. Forexample, if communication is lost with one of the components, the systemmay stop the load and alert a user to the malfunction. Generally, ifdollies are recognized as being off track, the calculations performed bythe system may compensate the steering to bring the dolly back to adesired position and orientation. However, a user may pre-set anallowance for how far a component can go out of sync through the controldevice 130. Once a component exceeds the limit, the system may stopmovement and alert a user to the malfunction.

In some alternative exemplary embodiments, laser measurement and/orcommunication devices may be utilized. In still other exemplaryembodiments, as shown in exemplary FIG. 12, GPS devices may be used tofacilitate controlling the system. GPS may be effectively implemented toaid in controlling the overall system through the use of localized GPStransponders 190 and GPS coordinate mapping. At least one GPStransponder 190 may be placed on a load or dolly. In an exemplaryembodiment, a localized GPS transponder may be placed at each steerpoint. GPS transponders 190 may be placed in a variety of locations on aload, including the sides or corners. The GPS transponders 190 may aidin calculating and projecting a course for the load. While underway, theGPS transponders 190 may aid in keeping the load on a desired path andcorrecting for any errors. Each GPS transponder 190 may receive a signalfrom a GPS satellite or pseudolite. The GPS signal may be used todetermine a GPS-based geographical location of the point on the loadwhere the transponder 190 is located. The GPS data may be utilized by aguidance computer 192 for plotting a course or controlling a load. Theguidance computer 192 may at least one power unit computer 122 or may becommunicatively coupled to the at least one power unit computer 122. Insome exemplary embodiments, the guidance computer 192 may further becommunicatively coupled with a controller device 130. Guidance computer192 may communicate through wired or wireless connections. In anexemplary embodiment, a guidance computer 192 and power unit computer122 may utilize user inputs and measured data to facilitate guidance ofa load. When setting a course for a load, a user may create a track ofcoordinates for each steer point, or GPS transponder location. In anexemplary embodiment, this may include a track for a front steer pointand a track for a rear steer point. However, in alternative exemplaryembodiments, more or less steer points may be used. For example, sidesteer points may also be used. The GPS-based geographical location datamay be compared to the pre-plotted track data as the system is used. Thesystem may actuate adjustments to the dolly steering and drivecapabilities so as to direct the GPS transponders along a plottedcourse. The system may further utilize known load dimensional data incombination with GPS-based transponder location data to plot a course orsteer a load. The system may utilize steering calculations,substantially as described above, to achieve desired steer angles tofollow a plotted course or correct for errors. In some exemplaryembodiments, the angle calculations may be in increments.

The foregoing description and accompanying drawings illustrate theprinciples, preferred embodiments and modes of operation of theinvention. However, the invention should not be construed as beinglimited to the particular embodiments discussed above. Additionalvariations of the embodiments discussed above will be appreciated bythose skilled in the art.

Therefore, the above-described embodiments should be regarded asillustrative rather than restrictive. Accordingly, it should beappreciated that variations to those embodiments can be made by thoseskilled in the art without departing from the scope of the invention asdefined by the following claims.

What is claimed is:
 1. A method for transporting a load by two or moredollies comprising: processing baseline dolly data using one or more ofa control device and a dolly control unit; processing a steering methodusing one or more of the control device and the dolly control unit;processing a desired steer point orientation using one or more of thecontrol device and the dolly control unit; measuring dolly orientationusing a top cap encoder and front axle encoder disposed on the two ormore dollies and communicatively coupled to a dolly control unit;calculating necessary adjustments to the two or more dollies using apower unit computer, wherein calculations use dolly control unit data;instructing at least one power unit using a power unit computer toactuate the at least one dolly to achieve the necessary adjustments;instructing the at least one dolly to drive using one of the controldevice or a separate drive control device; and adjusting the desiredsteer point orientation and drive instructions to transport the load,wherein at least two of the two or more dollies are arranged in paralleland are independently steerable.
 2. The method of claim 1, furthercomprising adding or removing dollies to the system to accommodate aload and making corresponding adjustments to the baseline data.
 3. Themethod of claim 1, wherein the two or more dollies are hydraulic dolliesconfigured to independently drive a load by controlling speed anddirection, and the at least one power unit is a hydraulic power unithydraulically coupled to the two or more dollies and configured toactuate components of the two or more dollies.
 4. The method of claim 1,wherein the steering method is one of standard, articulated or crabsteering.
 5. The method of claim 1, wherein the steer point coordinatesare points on the load.
 6. The method of claim 1, wherein dollyorientation adjustments, including frame angle and front axle angleadjustments, are calculated by determining X and Y coordinates for acalculated steer point; determining proper steer angles for each dollyusing the X and Y coordinates for the calculated steer point, dollycoordinates, and desired steer point orientation; and determiningadjustments to each measured dolly orientation to match the proper steerangle.
 7. The method of claim 1, further comprising correctingdifferences between target steer angles and actual steer angles.
 8. Themethod of claim 1, wherein at least one of the two or more dollies is acoaster dolly.